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rename 'gazebo' simulation to 'gazebo-classic' (#20936)

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- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
This commit is contained in:
Daniel Agar
2023-01-15 11:36:12 -05:00
committed by GitHub
parent 6605378d0d
commit 6991ac014c
56 changed files with 169 additions and 153 deletions
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Tools/simulation/gazebo/setup_gazebo.bash → Tools/simulation/gazebo-classic/setup_gazebo.bash
+3 -3
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@@ -16,9 +16,9 @@ SRC_DIR=$1
BUILD_DIR=$2
# setup Gazebo env and update package path
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
Tools/simulation/gazebo/sitl_gazebo → Tools/simulation/gazebo-classic/sitl_gazebo-classic
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Tools/simulation/gazebo/sitl_multiple_run.sh → Tools/simulation/gazebo-classic/sitl_multiple_run.sh
+7 -7
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@@ -1,10 +1,10 @@
#!/bin/bash
# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
# For example gazebo can be run like this:
#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
function cleanup() {
pkill -x px4
@@ -35,7 +35,7 @@ function spawn_model() {
pushd "$working_dir" &>/dev/null
echo "starting instance $N in $(pwd)"
$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
world=${WORLD:=empty}
target=${TARGET:=px4_sitl_default}
vehicle_model=${VEHICLE_MODEL:="iris"}
export PX4_SIM_MODEL=gazebo_${vehicle_model}
export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
echo ${SCRIPT}
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true
sleep 1
source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
# To use gazebo_ros ROS2 plugins
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
fi
echo "Starting gazebo"
gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
sleep 5
n=0
@@ -126,7 +126,7 @@ else
m=0
while [ $m -lt ${target_number} ]; do
export PX4_SIM_MODEL=gazebo_${target_vehicle}
export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
m=$(($m + 1))
n=$(($n + 1))
Tools/simulation/gazebo/sitl_run.sh → Tools/simulation/gazebo-classic/sitl_run.sh
+8 -8
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@@ -67,7 +67,7 @@ fi
# be running from last time
pkill -x gazebo || true
export PX4_SIM_MODEL=gazebo_${model}
export PX4_SIM_MODEL=gazebo-classic_${model}
export PX4_SIM_WORLD=${world}
SIM_PID=0
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
model_name="${model}"
# Set the plugin path so Gazebo finds our model and sim
source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
if [ -z $PX4_SITL_WORLD ]; then
#Spawn predefined world
if [ "$world" == "none" ]; then
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
echo "empty world, default world ${model}.world for model found"
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
else
echo "empty world, setting empty.world as default"
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
fi
else
#Spawn empty world if world with model name doesn't exist
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
fi
else
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
# Spawn world by name if exists in the worlds directory from environment variable
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
else
# Spawn world from environment variable with absolute path
world_path="$PX4_SITL_WORLD"
Tools/simulation/sitl_multiple_run.sh
+1 -1
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@@ -19,7 +19,7 @@ pkill -x px4 || true
sleep 1
export PX4_SIM_MODEL=gazebo_iris
export PX4_SIM_MODEL=gazebo-classic_iris
n=0
while [ $n -lt $sitl_num ]; do